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Chapter 2

The document contains 6 exercises related to control systems. Each exercise provides a problem statement and solution related to finding transfer functions, responses, stability, and error constants for different feedback systems. The exercises cover concepts like step responses, ramp responses, closed-loop transfer functions, stability analysis, and static error constants.

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rivawe1402
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10 views12 pages

Chapter 2

The document contains 6 exercises related to control systems. Each exercise provides a problem statement and solution related to finding transfer functions, responses, stability, and error constants for different feedback systems. The exercises cover concepts like step responses, ramp responses, closed-loop transfer functions, stability analysis, and static error constants.

Uploaded by

rivawe1402
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Exercise 1

For the unit step response shown in the following figure, find the transfer function of
the system. Also find rise time and settling time.
Solution

K
Let, the transfer function G ( s) 
sa
Final output = 15

63% of the final output is 15 x 0.63 = 9.45

Time to reach 9.45 is 0.02

Therefore, time constant = 0.02


750
G (s) 
1 s  50
a  50 2.2
0.02 Rise time, Tr   0.044 sec.
a
K
 15  K  15  50  750 4
a Settling time, Ts   0.08 sec.
a
Exercise 2

Find the ramp response for a system whose transfer function is:

𝑠
𝐺 𝑠 =
𝑠+2 𝑠+3
Solution

Ramp input → 𝑅 𝑠 = ,

1 𝑠 1
𝐶 𝑠 = =
we have 𝐺 𝑠 = → The output 𝐶 𝑠 = 𝑅(𝑠)𝐺 𝑠 𝑠 𝑠+2 𝑠+3 𝑠 𝑠+2 𝑠+3
( )

𝐴 𝐵 𝐶
𝐶 𝑠 = + +
𝑠 𝑠+2 𝑠+3
Using partial fraction:
1
𝐴= =1 6
𝑠+2 𝑠+3
1 1 1
6 2 3 1
𝐶 𝑠 = − + 𝐵= = −1 2
𝑠 𝑠+2 𝑠+3 𝑠 𝑠+3
1
𝐶= =1 3
𝑠 𝑠+2

The inverse Laplace Transform: 𝑐 𝑡 = 1 − 1 𝑒 1


+ 𝑒
6 2 3
Exercise 3
For the unity feedback system with a unit step input, find:

1. Closed-loop transfer function.

2. Damping ratio, the natural frequency, damped frequency and the expected percent overshoot.

3. The settling time.


Solution

1. Closed-loop transfer function

2 The expected percent overshoot


𝜔
𝑓𝑜𝑟 𝑠𝑒𝑐𝑜𝑛𝑑 𝑜𝑟𝑑𝑒𝑟 𝑠𝑦𝑠𝑡𝑒𝑚 𝐶𝑎𝑛𝑜𝑛𝑖𝑐𝑎𝑙 𝑓𝑜𝑟𝑚 ∶ 𝑇 𝑠 =
𝑠 + 2𝜁𝜔 𝑠 + 𝜔
0 < ζ < 1 → Underdamped 𝑠𝑦𝑠𝑡𝑒𝑚

damped frequency 𝜔 =𝜔 1 − ζ = 70.711 1 − (0.53) = 59.93

3 The settling time


Exercise 4

For the characteristic equations below, Find the range of gain K, that will cause the system
to be stable, unstable, and marginally stable.

1. 𝑠 +6𝑠 + 11𝑠 + 6𝑠 + 𝐾 = 0

2. 𝑠 + 2 𝑠 + 4 𝑠 + 𝐾 = 0

6 11
to
Solution

System 1: 𝑠 + 6𝑠 + 11𝑠 + 6𝑠 + 𝐾 = 0

The system is stable for 60 − 6𝐾 > 0 → 𝐾 < 10

The system is unstable for 𝐾 > 10

The system is marginally stable


for 𝐾 = 10 𝑎𝑛𝑑 10𝑠 + 10 = 0 → 𝑠 , = ±𝑗

System2: 𝑠 + 2 𝑠 + 4 𝑠 + 𝐾 = 0

The system is stable for 0 < 𝐾 < 8

The system is unstable for 𝐾 > 8

The system is marginally stable for 𝐾 = 8

𝑎𝑛𝑑 2𝑠 + 8 = 0 → 𝑠 , = ±𝑗2
Exercise 5
Given the following non-unity feedback system, find the following:

Evaluate the static error constants, and find the expected error for the standard step, ramp, and
parabolic inputs.
Solution

the static error constants expected Steady state error

𝐾 = lim𝐺(𝑠) = ∞ For step input: 𝑒 ∞ = =0


→

50 × 1
𝐾 = lim 𝑠 𝐺 𝑠 = =5 For ramp input: 𝑒 ∞ = = 0.2
→ 2×5

𝐾 = lim𝑠 𝐺(𝑠) = 0 For parabolic input: 𝑒 ∞ = =∞


→
Exercise 6
For the unity feedback system shown below, find:

a) The static error constants 𝐾 , 𝐾 , 𝐾

b) The steady-state error for an input of 𝑢(𝑡).

c) The steady-state error for an input of 2 𝑡 𝑢(𝑡).

d) The steady-state error for an input of 3 𝑡 𝑢(𝑡).


Solution

a) 𝐾 = lim 𝐺(𝑠) = ∞ , 𝐾 = lim 𝑠𝐺 𝑠 = 66.7 , 𝐾 = lim 𝑠 𝐺(𝑠) = 0


→ → →

b) for 𝑟 𝑡 = 𝑢 𝑡 → 𝑒 ∞ = =0

c) for 𝑟 𝑡 = 2 𝑡 𝑢 𝑡 → 𝑒 ∞ = = 0.03

d) for 𝑟 𝑡 = 3 𝑡 𝑢 𝑡 → 𝑒 ∞ = =∞

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